upkie

MIT Cheetah I Implementation

Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

A curated list of awesome robot descriptions (URDF, MJCF)

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

Mesh Navigation Stack

An Architecture for the Versatile Control of Legged Robots

An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.

A curated list of resources relevant to legged locomotion learning of robotics.